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 New entries since: Wed Dec 31 16:00:00 1969
ID Date Author Type Category Subject
59   Thu Jul 7 10:23:04 2022 JuanGeneralGeneralUpdate

Almost done with coil driver boards

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61   Fri Jul 8 17:09:10 2022 JuanGeneralGeneralCoil Driver and Sat Amp

All three coil driver boards are complete and have been tested. Modification for all 4 sat amp have been completed. Ideally, I would like to finish all the chassis on Monday I have one just about done.

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64   Mon Jul 11 17:39:17 2022 JuanGeneralGeneralCoil driver chassis

Finished all 3 Coil Drover chassis and power lines still need to install the rear cables will do that after I finish Sat Amp chassis tomorrow.

Attachment 1: IMG-5493.jpg
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65   Wed Jul 13 13:16:33 2022 JuanGeneralGeneralFinished coil driver and sat amp

I have finished all coil driver and sat amp chassis they all seem to be functioning properly.

Attachment 1: IMG-5553.jpg
69   Fri Jul 22 13:47:47 2022 JuanGeneralGeneralUpdate

Just a general update of what I have been up to deriving Lagrange for double pendulum system and also been looking at code that koji gave to me I've add comment to some of the code also working on my report.

70   Tue Jul 26 14:17:44 2022 JuanGeneralGeneralOSEMS actuators

we have 23 OSEMS they look all full built and I will try and test them this week and or next week.

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72   Thu Aug 4 11:26:55 2022 JuanGeneralGeneralSat Amp

Sat amp seems to be working just fine. There does seem to be a saturation issue with one of the outputs we may need to change a resistor on the board.

Attachment 1: IMG-6153.jpg
74   Mon Aug 8 13:00:56 2022 JuanGeneralGeneralSat Amp testing of OSEMS

In the following test, a single Sat Amp chassis that holds Sat Amp Board S1106078 and S1106077

Verification of Sat Amp

First, as the test of the LED driver circuits in the chassis, 8 of various color LEDs were inserted to the appropriate output pins of the chassis. This resulted in all the LED lit and the LED mon TP was confirmed to have voltage outputs of 5V. (See my previous ELOG)

OSEM tests

Connected OSEMs to the sat amp to test the OSEM LED/PD pairs. With the first test, the PD out gave us 15V. We wondered if this was just the problem of the OSEM or circuit, or just there are too much light for the transimpedance gain of 121K Ohm.

By blocking the OSEM light by a random heat shrink tube found on the table, we saw the number got reduced. This indicates that the OSEM/Satamp outputs are working and there are just too much light.

We decided to reduce the gain: The transimpedance gain R18 was reduced to 16k, which gave us a voltage range from 5V~7V  with some outlier OSEMS at 1V (See the attached table)

There are 24 total OSEMs:

• one apparently not functional
• 20 fell in the range of 5~7V
• 3 fell in the range of  ~1V

(These numbers given after the change of R18 to 16k Ohm)

Note: We originally aimed for 8~9V. However, from a previous study of OSEM at cryogenic temperature, we learned that there was about an about 30% increase in the response.
Therefore, we decided to leave a sufficient margin from 10V considering this expected increase in the response.

Attachment 1: OSEMs.xlsx
22   Tue Aug 24 08:15:37 2021 Jiri SmetanaGeneralGeneralActuation Feedback Model

I'm posting a summary of the work I've done on the Lagrangian analysis of the Mariner suspension design and a state space model of the actuator control loop. The whole feedback mechanism can be understood with reference to the block diagram in attachment 1.

The dynamics of the suspension are contained within the Plant block. To obtain these, I derived the system Lagrangian, solved the Euler-Lagrange equations for each generalised coordinate and solved the set of simultaneous equations to get the transfer functions from each input parameter to each generalised coordinate. From these, I can obtain the transfer functions from each input to each observable output. In this case, I inserted horizontal ground motion at the pivot point (top of suspension) and a generic horizontal force applied to at the intermediate mass. These two drives become the two inputs to the Plant block. The two observables are xi - the position of the intermediate mass, which is sensed and fed to the actuator servo, and xt - the test mass position that we are most interested in. I obtained the transfer functions from each input to each output using a symbolic solver in Python and then constructed a MIMO state space representation of these transfer functions in MATLAB. For this initial investigation, I've modelled the suspension in the Lagrangian as a lossless point-mass double pendulum with two degrees of freedom - the angle to the horizontal of the first mass and the angle to the horizontal of the second mass. The transfer functions are very similar to the more advanced treatment with elastic restoring forces and moments of inertia and the system can always be expanded in a later analysis.

For the sensor block I assumed a very simple model given by

$x_s = G_s(x_i - x_g) + n_s$

where G_s is the conversion factor from the physical distance in metres to the electronic signal (in, for example, volts or ADC counts) and n_s is the added sensor noise. A more general sensor model can easily be added at a later date to account for, say, a diminishing sensor response over different frequency ranges.

The actuator block converts the measured displacement of the intermediate mass into an actuation force, with some added actuator noise. The servo transfer function can be tuned to whatever filter we find works best but for now I've made two quite basic suggestions: a simple servo that actuates on the velocity of the intermediate mass, given by

$\frac{F(s)}{x_s(s)} = G_as$

and an 'improved' servo, which includes a roll-off after the resonances, given by

$\frac{F(s)}{x_s(s)} = \frac{G_as}{(s-p)^2}$

where p is the pole frequency at which we want the roll-off to occur. Attachment 2 shows the two servo transfer functions for comparison.

The state space models can then be connected to close the loop and create a single state space model for the transfer functions of the ground and each noise source to the horizontal test mass displacement. Attachment 3 contains the transfer functions from xg to xt and shows the effect of closing the loop with the two servo choices compared to the transfer function through just the Plant alone. We can see that the closed loop system does damp away the resonances as we want for both servo choices. The basic servo, howerver, loses us a factor of 1/f^2 in suppression at high frequencies, as it approximates the effect of viscous damping. The improved servo gives us the damping but also recovers the original suppression at high frequencies due to the roll-off. I can now provide the ground and noise spectra and propagate them through to work out the fluctuations of the test mass position.

Attachment 1: actuator_feedback_diagram.png
Attachment 2: bode_servo.png
Attachment 3: bode_plant.png
26   Wed Sep 15 09:15:21 2021 Jiri SmetanaGeneralGeneralActuation Feedback Model and Noise

I've implemented a more extensive feedback model that uses proper conversions between metres, volts, counts etc. and includes all the (inverse) (de)whitening filters, driver, servo and noise injections in the correct places. I then closed the loop to obtain the transfer function from horizontal ground motion and each noise source to test mass displacement. I tuned the servo gain to reduce the Q of both resonances to ~20.

Our idea was then to compensate servo gain with the output resistance of the coil driver to raise the RMS of the DAC output signal in order to raise SNR and thus suppress DAC noise coupling. I found that raising the output resistor by a factor of 10 above the nominal suggestion 2.4 kOhm gave me a DAC output RMS of 0.3 V, so in line with our safety factor of 10 requirements. This also coincidentally made all the noise sources intersect at approximately the same frequency when these noises begin to dominate over the seismic noise. All these initial tests are subject to change, particularly depending on the design of the servo transfer function. I'm attaching the relevant plots as well as the MATLAB script I used and the two files required for the script to run.

Attachment 1: displacement_asd.png
Attachment 2: servo.png
Attachment 3: system_loop.m
% Get piezo stack transfer function
PZT_f = fscanf(fopen('ground_freq.txt'), '%f');
PZT_tf = fscanf(fopen('ground_xx.txt'), '%f');

% Set frequency vector and ground motion
freq = logspace(-1, 2, 1e4);
grnd = ground(freq);
PZT = interp1(PZT_f, PZT_tf, freq);

% Set complex frequency variable

... 185 more lines ...
Attachment 4: ground_freq.txt
0.1
0.5
1
1.419178617
1.489659958
1.554545445
1.719720097
1.806748355
2.030363506
2.133112203

... 110 more lines ...
Attachment 5: ground_xx.txt
1
1.3
1.8
2.794167453
2.905480556
3.077890921
3.854210495
4.502922159
5.213856692
4.990356828

... 110 more lines ...
27   Thu Sep 16 10:02:47 2021 Jiri SmetanaGeneralGeneralActuation Feedback Model and Noise

Here's the DAC voltage spectrum with its associated RMS.

Also, for clarity, this model is for a lossless point-mass double pendulum system with equal masses and equal lengths of 20 cm.

 Quote: I've implemented a more extensive feedback model that uses proper conversions between metres, volts, counts etc. and includes all the (inverse) (de)whitening filters, driver, servo and noise injections in the correct places. I then closed the loop to obtain the transfer function from horizontal ground motion and each noise source to test mass displacement. I tuned the servo gain to reduce the Q of both resonances to ~20. Our idea was then to compensate servo gain with the output resistance of the coil driver to raise the RMS of the DAC output signal in order to raise SNR and thus suppress DAC noise coupling. I found that raising the output resistor by a factor of 10 above the nominal suggestion 2.4 kOhm gave me a DAC output RMS of 0.3 V, so in line with our safety factor of 10 requirements. This also coincidentally made all the noise sources intersect at approximately the same frequency when these noises begin to dominate over the seismic noise. All these initial tests are subject to change, particularly depending on the design of the servo transfer function. I'm attaching the relevant plots as well as the MATLAB script I used and the two files required for the script to run.

Attachment 1: DAC_voltage.png
39   Tue Oct 12 12:44:44 2021 Jiri SmetanaGeneralGeneralNew Damping Loop Model

I've ironed out the issues with my MATLAB model so that it now shows correct phase behaviour. The problem seems to arise from infinite Q poles where there is an ambiguity in choosing a shift of +/- 180 deg in phase. I've changed my state space model to include finite but very high Q poles to aid with the phase behaviour. The model has been uploaded to the GitLab project under mariner40 -> mariner_sus -> models -> lagrangian.

40   Tue Oct 12 12:49:42 2021 Jiri SmetanaGeneralGeneralDamping Loop (Point-Mass Pendulums)

Now that I have correct phase and amplitude behaviour for my MIMO state space model of the suspension and the system is being correctly evaluated as stable, I'm uploading the useful plots from my analysis. File names should be fairly self-explanatory. The noise plots are for a total height of 550 mm, or wire lengths of 100 mm per stage. I've also attached a model showing the ground motion for different lengths of the suspension.

Attachment 1: servo.png
Attachment 2: open_loop.png
Attachment 3: closed_loop.png
Attachment 4: noise.png
Attachment 5: length_change.png
41   Thu Oct 14 04:17:36 2021 Jiri SmetanaGeneralGeneralDamping Loop (Point-Mass Pendulums)

Here are the DAC and residual displacement spectra for different suspension heights ranging from 450 mm to 600 mm. I aimed to get the Q of the lower resonance close to 5 and the DAC output RMS close to 0.5 V but as this was just tweaking values by hand I didn't get to exactly these values so I'm adding the actual values for reference. The parameters are as follows:

 Height [mm] Displacement RMS [nm] DAC Output RMS [V] Q Lower Resonance Q Higher Resonance Driver Resistor {Ohm] 600 560 0.51 5.3 1.5 175 550 580 0.54 5.1 1.4 175 500 610 0.49 5.0 1.4 150 450 630 0.54 5.0 1.4 150
 Quote: Now that I have correct phase and amplitude behaviour for my MIMO state space model of the suspension and the system is being correctly evaluated as stable, I'm uploading the useful plots from my analysis. File names should be fairly self-explanatory. The noise plots are for a total height of 550 mm, or wire lengths of 100 mm per stage. I've also attached a model showing the ground motion for different lengths of the suspension.

Attachment 1: disp_600.png
Attachment 2: DAC_600.png
Attachment 3: disp_550.png
Attachment 4: DAC_550.png
Attachment 5: disp_500.png
Attachment 6: DAC_500.png
Attachment 7: disp_450.png
Attachment 8: DAC_450.png
44   Tue Oct 26 08:09:08 2021 Jiri SmetanaGeneralGeneralLagrangian Suspension Model - Extended Body

I've been testing out the extended body lagrangian models and I'm trying to understand the ground motion and force coupling to the test mass displacement. I've compared the two point-mass model to the extended model and, as expected, I get very similar results for the ground coupling. Attachment 1 shows the comparison and asside from more agressive damping of the point-mass model making a small difference at high frequency, the two models look the same. If I look at the force coupling, I get a significantly different result (see attachment 2). I think this makes sense because in the point-mass model I am driving purely horizontal displacement as there is no moment of inertia. However, for the extended body I drive the horizontal position of the centre of mass, which then results in an induced rotation as the change propagates through the dynamics of the system. To obtain a consistent result with the point-mass model, I would need to apply a force through the CoM as well as a counteracting torque to maintain a purely horizontal displacement of the mass. What I am wondering now is, what's the correct/more convenient way to consider the system? Do I want my lagrangian model to (a) couple in pure forces through the CoM and torques around the CoM and then find the correct actuation matrix for driving each degree of freedom in isolation or (b) incorporate the actuation matrix into the lagrangian model so that the inputs to the plant model are a pure drive of the test mass position or tilt?

Attachment 1: comparison_xg.png
Attachment 2: comarison_F.png
49   Wed Nov 17 09:27:04 2021 Jiri SmetanaGeneralGeneralLagrangian Model - Translation & Pitch

I've been having a look at the transfer functions for the translation and pitch of both masses. I'm attaching the plot of all input-to-output transfer functions of interest so far. Here I've identified the pitch resonances of the two masses (one each) as well as the two pendulum modes. I need to now investigate if they occur in the correct places. I have confirmed the DC response by directly solving the statics problem on paper.

Attachment 1: plant_all_tfs.png
50   Wed Dec 15 06:43:43 2021 Jiri SmetanaGeneralGeneralLagrangian Model - Translation & Pitch

I've checked the validity of my state space model in a couple of ways so that we have confidence in the results that it gives. I've checked the DC gain of the transfer functions where it is non-zero. I did this by solving the static balance of forces problem in the extended body model by hand to get the DC CoM position as well as the pitch angle of both masses. In the previous ELOG entry I didn't quite do this for all transfer functions so here I completed the check. My values agree with the model's values to within 10% at the worst end and to within 0.1% at the best end. I performed a second check to see if the frequencies occur in the correct places by considering the case of very low coupling between the different resonant modes. It's difficult to check this in the case where the modes are strongly coupled (for example length-pitch is strong or the two pitch modes are close together) but if I sufficiently separate them, I get very good agreement between my analytic approximation and the state space model.

The model can easily be converted from one that gives motion in X and RY into one that gives motion in Y and RX. Running the model for both directions gives the following list of resonances (note pendulum modes in X and Y direction are identical):

 Resonance Type Frequency [Hz] Pendulum 1 0.85 Pendulum 2 2.10 Pitch 1 0.46 Pitch 2 2.37 Roll 1 17.13 Roll 2 46.09

Given that I think the model seems to give sensible values, I've pushed the updated model to the GitLab repository. It is now possible to quickly change the parameters of the suspension and very quickly see the corresponding shift in the resonances. To change the parameters, open the plain text file called 'params' and change the values to the new ones. Afterwards, run the file 'ss_extended.py', which will solve the state space model, save the resulting ABCD matrices to a folder and print out the values of the resonances to terminal.

 Quote: I've been having a look at the transfer functions for the translation and pitch of both masses. I'm attaching the plot of all input-to-output transfer functions of interest so far. Here I've identified the pitch resonances of the two masses (one each) as well as the two pendulum modes. I need to now investigate if they occur in the correct places. I have confirmed the DC response by directly solving the statics problem on paper.

62   Mon Jul 11 16:24:31 2022 Jennifer HritzGeneralOptical ContactingBaselining the temperature output of the Oster hot plate

This was performed last Friday (7/8).

I secured a thermocouple perpendicular against the hotplate and recorded the maximum temperature the hotplate reached at Low, Medium, and High. It took about 5 minutes to reach a stable temperature, where stable means that the temperature stayed within +/- 0.5°C for a minute. The hotplate maintains a certain temperature by turning itself on and off, so the temperature would drop slightly (at most, a few °C) while the hotplate was off. The maximums were:
Low: 51°C
Medium: 185°C
High: 263°C
At the max temperature, I moved the perpendicular thermocouple around to roughly find the variation in tempearture at different locations on the hotplate. Facing the nob, the top right quadrant is about 10-20°C cooler than the other quadrants, which are within 5°C of eachother. Excluding the cooler quandrant, the center and the outer edge are within 5°C of eachother. The temperature increases as one approaches half the radius, with it being about 20-40°C greater than the center and outer edge. The highest recorded temparture was 289°C at half the radius in the bottom left quandrant. This was only meant to be a rough test to see how even the heating is.

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63   Mon Jul 11 17:27:39 2022 Jennifer HritzGeneralOptical ContactingFirst successful bond

Note that the slides have "GLOBE" printed on one side. I always bond the opposite using the opposite side without the text.

On Monday (7/11), I began experimenting with bonding, starting with "air-bonding," which is trying to make dry, gently cleaned slides stick. I achieved my first succesful optical contact with what I call "acidental water-assisted direct bonding" or "water-bonding," where I accidentally clasped two wet slides together while washing my dirty finger prints off them. After the accidental discovery, I repeated it by running water over the slides while there were clasped together and achieved the same result. After a few hours, I attempted partially sliding apart the second water-bonded sample. I could slowly push them apart by pressing my thumbs against the long edge, but it took quite a bit of force. I decided to let 4 samples sit overnight: 1 air-bonded, 1 air-bonded with the brass hunk on top of it, and 2 water-bonded. Neither time nor pressure improved the air-bonded samples as they still slid apart very easily. The first water-bonded sample slid apart easier, but one part remained stubornly attached until I began shaking it violently. The second water-bonded sample was much harder to slide apart than the last time I tested it. With all the force of my fingers, I could barely make it budge.

Attachment 1: PXL_20220712_223449788.MP.jpg
66   Thu Jul 14 14:55:01 2022 Jennifer HritzGeneralOptical ContactingTesting isopropanol and methanol

Note that I am just testing out different techniques, so I have not set up the thermocouples to precisely measure the temperatue.
On Tuesday, I developed a new method of putting water, isopropanol, or methanol on one slide then squishing the other slide on top of it to fill the gap with the afformentioned liquid. The slides are slippery at first, but as they dried, which took about 15 minutes, the bond forms. The bonds were strong enough that I could just barely push the slides appart by applying pressure to the side using my thumbs. I prepared 4 samples this way, 2 with iso and 2 with meth. I took one of each and heated them on Medium for 30 minutes under the brass hunk with the aluminum square on the bottom and copper foil on both sides of the samples. Earlier in the day, I tried heating them without the weight on top, but the heat just broke the bond. I took the remain two and set them aside as controls.
On Thursday, I returned to check the bonds. The heated samples had broken. I intented to check on Wednesday, but I was sick from food poisoning, so I do not know whether the bonds broke immediately after heating or due to sitting for an extra day. For the control samples, one also had a broken bond, but the other had become even stronger.
I noticed that, when the slides are successfully bonded, the shape and appearance of the Newton's rings change, which can be seen in the pictures. I speculate that the circles on the unbroken control are the bonded regions. Ideally, we want to see no Newton's rings.

Attachment 1: PXL_20220714_220953206.MP_2.jpg
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71   Wed Jul 27 14:50:20 2022 Jennifer HritzGeneralOptical ContactingBonding without liquids and narrowing down heating issue

I have found that, after cleaning the glass with methanol (or even sometimes with just a dry lense-cleaning cloth), I can get glass slides to bond by rappidly rubbing them together until something sticks. This was inspired by watching "Wizard of Vaz" perform bonds on YoutTube. While cleaning, I now use enough strength to make the glass squeak, as advised by him.

Upon heating, I encountered the same issue as when I bonded them by putting a liquid (water, methanol, etc.) in the gap, which leads me to now believe that the broken bond is not due to the expansion of a liquid. Further, even at the low temperature of 60°C, placing the liquid-less sample on the hotplate breaks the bond in seconds, which I caught on video. In the attached video*, you can see that, before the heat, the bond is strong enough that I cannot push it appart with my fingers, but after the heat, it slides easily. Note that, outside of taking the video, I always lay the entire slide on the center of the metal so the sample is evenly heated.

*This is my first time attaching a video. If it didn't attach properly, I'll add it on to a later log. I also want to record myself performing the rubbing bonding technique.

Attachment 1: PXL_20220727_214658230.jpg
Attachment 2: PXL_20220727_214241668.mp4
73   Thu Aug 4 13:44:56 2022 Jennifer HritzGeneralOptical ContactingSuccess with slowly heating

Yesterday, I did two rounds of slowly heating 4 samples to the maximum hot plate temperature. This was to formally test if my success with a single sample earlier in the week was a fluke. Note that the hot plate takes about 10-15 minutes to reach a stable temperature when it is turned up one notch.

First round:
I bonded 4 samples by putting methanol in the gap between the glass slides and letting it dry to create a gap.
Starting at room temperature, I heated the slides on each setting for roughly 15 minutes, then let them cool down naturally over the course of an hour. 3 broke broke at medium heat, and 1 survived the whole process. I belive these broke because the bonds were weaker and I heated them slightly too quickly. In previous tests, I would manually switch the hot plate on and off, but I wanted to see if the hot plate could heat up slow enough on its own.

Second round:
I bonded 4 samples by scrubbing the slides with methanol, using a compressed air duster to blow off the fibers, rubbing them together with the pressure of my fingers, and repeating this whole procedure until they stuck (it took 2-4 repeats).
Starting at room temperature, I heated the slides on each setting for exactly 20 minutes, then let them cool down naturally over the course of an hour. All of them survived to the maximum temperature (the pictures show them at the start and end of the heating, note the temperature). I credit this to the stronger bonding proceedure and the extra 5 minutes for them to adjust to the temperature. I did not turn the hot plate on or off at any point, I just let it heat up at its own rate.

I cannot tell if the bonds are stronger. The size and shape of the Newtons rings did not change.

Attachment 1: PXL_20220803_232203193.jpg
Attachment 2: PXL_20220804_002433906.jpg
11   Fri Apr 23 10:41:22 2021 AidanGeneralDesign specs2 um photodiode requirements

35   Fri Oct 1 13:24:40 2021 AidanGeneralDesign specsTM Barrel coating emissivity

I have to question whether this passes a sanity test. Surely in the case of Stack 2, the 10um thick Ta2O5 will absorb the majority of the incident radiation before it reaches the SiO2 layer beneath. It should at least be similar to just absorption in Ta2O5 with some Fresnel reflection from the AIr-Ta2O5 interface.

For example, at around 18um, K~2, so the amplitude attenuation factor in a 10um thick layer is 160,000x or a gain of 6E-6. So whatever is under the Ta2O5 layer should be irrelevant - there is negligible reflection.

 Quote: [Paco, Nina, Aidan] We ran our stack emissivity calculation on different AR stacks to try and make a decision for the TM barrel coatings. This code has yet to be validated by cross checking against tmm as suggested by Chris. The proposed layer structures by Aidan and Nina are: *| Air || SiO2 x 800 nm || Ta2O5 x 5 um || Silicon |* *| Air || Ta2O5 x 10 um || Sio2 x 20 nm || Silicon |* *| Air || SiO2 x 100 nm || TiO2 x 1 um || Silicon |* Attachments # 1-3 show the emissivity curves for these simple dielectric stacks. Attachment #4 shows the extinction coefficient data used for the three different materials. The next step is to validate these results with tmm, but so far it looks like TiO2 might be a good absorbing film option.

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